CN102748202B - Control method and system for torque of hydraulic pump motor - Google Patents
Control method and system for torque of hydraulic pump motor Download PDFInfo
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- CN102748202B CN102748202B CN201210230180.3A CN201210230180A CN102748202B CN 102748202 B CN102748202 B CN 102748202B CN 201210230180 A CN201210230180 A CN 201210230180A CN 102748202 B CN102748202 B CN 102748202B
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Abstract
The invention discloses a control method and a control system for the torque of a hydraulic pump motor. According to the control method for the torque of a hydraulic pump motor, a first adder carries out subtraction on a target torque signal and an on-line estimated value of output torque of the hydraulic pump motor so as to obtain a torque error signal; a PID torque controller generates a first control signal based on the torque error signal; a second adder carries out subtraction on the first control signal and a variable oil cylinder displacement signal so as to obtain a second control signal; a canted plate position controller generates a signal for control of a control valve based on the second control signal. Through double closed loop control of the hydraulic pump motor, control precision of the hydraulic pump motor is improved, and the system is allowed to carry out rapid and effective suppression on a variety of interference; and the double closed loop control can be easily realized in actual projects, thereby effectively reducing cost of the control system.
Description
Technical field
The present invention relates to control field, particularly relate to a kind of hydraulic pump motor method for controlling torque and system.
Background technique
Hydraulic hybrid is one of effective measures solving energy crisis and environmental pollution problem.Braking kinetic energy, as the energy conversion device of mixed power system, is converted to hydraulic energy during braking by hydraulic pump motor, and is stored in hydraulic accumulator, when starting, the hydraulic energy of storage is converted to mechanical energy to drive vehicle.Because hydraulic hybrid power system is a typical nonlinear system, and there is many uncertain factors, these non-linear and uncertain dynamic characteristics of system that make are very complicated, the mathematical models setting up system is more difficult, and traditional control algorithm cannot realize the accurate control to hydraulic pump motor.
In starting and braking, liquid drives working pressure frequent variations within the scope of Maximum operating pressure and Minimum operating pressure of pump motor, and system presents strong nonlinearity; Outer load disturbance moment of torsion also along with the gradient on road surface, acceleration and deceleration and Transmission gear adjustment situation and change; The flow coefficient of system, leadage coefficient, friction factor etc. between tire and road surface have obvious uncertainty in addition, and slowly change along with working state, temperature etc.
Traditional hydraulic pump motor adopts PID(Proportion IntegrationDifferentiation, proportion integration differentiation) controlling method.Fig. 1 is the schematic diagram of hydraulic pump motor moment controlling system in prior art.PID torque controller 1 is after receiving torque instruction, this torque instruction is utilized to obtain the first control signal, swash plate positions controller 2 generates the second control signal controlled control valve 3 according to the first control signal, control valve 3 carries out the 3rd control signal controlled according to the raw paired variates's oil cylinder 4 of the second control signal, variable oil cylinder 4 controls hydraulic pump motor according to the 3rd control signal.
This controlling method conformability is poor, and the performance of hydraulic pump motor of the friction torque disturb worsens especially during low speed, is mainly reflected in the aspect such as steady-state error and tracking lag of system, thus limits the application of hydraulic hybrid technology.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of hydraulic pump motor method for controlling torque and system.By double-closed-loop control method, the control accuracy of hydraulic pump motor can be improved, system is suppressed fast and effectively to various interference.
According to an aspect of the present invention, provide a kind of hydraulic pump motor method for controlling torque, comprising:
The hydraulic pump motor Driving Torque On-line Estimation value that target torque signal and multiplier provide by first adder is subtracted each other, and obtains torque error signal;
PID torque controller generates the first control signal according to torque error signal;
The variable oil cylinder displacement signal that first control signal and displacement detector provide by second adder subtracts each other, and obtains the second control signal;
Swash plate positions controller, according to the second control signal, generates the 3rd control signal controlled control valve;
Control valve is according to the 3rd control signal, and raw paired variates's oil cylinder carries out the 4th control signal controlled;
Variable oil cylinder, according to the 4th control signal, controls hydraulic pump motor;
Wherein pressure-detecting device is by detecting the pressure of hydraulic pump motor oil outlet, generate the working pressure signal of hydraulic pump motor, displacement detector is by detecting the position of hydraulic pump motor variable oil cylinder, generate variable oil cylinder displacement signal, working pressure signal is multiplied with variable oil cylinder displacement signal by multiplier, obtains hydraulic pump motor Driving Torque On-line Estimation value.
According to a further aspect in the invention, provide a kind of hydraulic pump motor moment controlling system, comprising:
Displacement detector, for the position by detecting hydraulic pump motor variable oil cylinder, generating variable oil cylinder displacement signal, and variable oil cylinder displacement signal is sent to second adder and multiplier;
Pressure-detecting device, for the pressure by detecting hydraulic pump motor oil outlet, generating the working pressure signal of hydraulic pump motor, and working pressure signal is sent to multiplier;
Multiplier, for being multiplied with variable oil cylinder displacement signal by working pressure signal, obtains hydraulic pump motor Driving Torque On-line Estimation value, and hydraulic pump motor Driving Torque On-line Estimation value is sent to first adder;
First adder, for target torque signal and hydraulic pump motor Driving Torque On-line Estimation value being subtracted each other, obtaining torque error signal, and torque error signal is sent to PID torque controller;
PID torque controller, for generating the first control signal according to torque error signal, and sends to second adder by the first control signal;
Second adder, for the first control signal and variable oil cylinder displacement signal being subtracted each other, obtaining the second control signal, and the second control signal is sent to swash plate positions controller;
Swash plate positions controller, for according to the second control signal, generates the 3rd control signal controlled control valve, and the 3rd control signal is sent to control valve;
Control valve, for according to the 3rd control signal, gives birth to the 4th control signal that paired variates's oil cylinder carries out controlling, and the 4th control signal is sent to variable oil cylinder;
Variable oil cylinder, for according to the 4th control signal, controls hydraulic pump motor.
The present invention is by feeding back the measurement result of hydraulic pump motor oil outlet pressure and hydraulic pump motor variable oil cylinder position, form hydraulic pump motor double-closed-loop control, the control accuracy of hydraulic pump motor can be improved, system is suppressed fast and effectively to various interference, and easily realize in Practical Project, can effectively reduce control system cost.
Description of the invention provides in order to example with for the purpose of describing, and is not exhaustively or limit the invention to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is in order to principle of the present invention and practical application are better described, and enables those of ordinary skill in the art understand the present invention thus design the various embodiments with various amendment being suitable for special-purpose.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of hydraulic pump motor moment controlling system in prior art.
Fig. 2 is the schematic diagram of a hydraulic pump motor method for controlling torque of the present invention embodiment.
Fig. 3 is the schematic diagram of another embodiment of hydraulic pump motor method for controlling torque of the present invention.
Fig. 4 is the schematic diagram of a hydraulic pump motor moment controlling system of the present invention embodiment.
Fig. 5 is the schematic diagram of another embodiment of hydraulic pump motor moment controlling system of the present invention.
Fig. 6 is the schematic diagram of the another embodiment of hydraulic pump motor moment controlling system of the present invention.
Fig. 7 is the schematic diagram of a feedforward compensation device of the present invention embodiment.
Fig. 8 is the hydraulic pump motor displacement control design sketch applying hydraulic pump motor method for controlling torque of the present invention.
Fig. 9 is the hydraulic pump motor direct torque design sketch applying hydraulic pump motor method for controlling torque of the present invention.
Embodiment
With reference to the accompanying drawings the present invention is described more fully, exemplary embodiment of the present invention is wherein described.
Fig. 2 is the schematic diagram of a hydraulic pump motor method for controlling torque of the present invention embodiment.As shown in Figure 2, this embodiment comprises the steps:
Step 101, the hydraulic pump motor Driving Torque On-line Estimation value that target torque signal and multiplier provide by first adder is subtracted each other, and obtains torque error signal.
Step 102, PID torque controller generates the first control signal according to torque error signal.
Step 103, the variable oil cylinder displacement signal that the first control signal and displacement detector provide by second adder subtracts each other, and obtains the second control signal.
Step 104, swash plate positions controller, according to the second control signal, generates the 3rd control signal controlled control valve.
Step 105, control valve is according to the 3rd control signal, and raw paired variates's oil cylinder carries out the 4th control signal controlled.
Step 106, variable oil cylinder, according to the 4th control signal, controls hydraulic pump motor.
Wherein pressure-detecting device is by detecting the pressure of hydraulic pump motor oil outlet, generate the working pressure signal of hydraulic pump motor, displacement detector is by detecting the position of hydraulic pump motor variable oil cylinder, generate variable oil cylinder displacement signal, working pressure signal is multiplied with variable oil cylinder displacement signal by multiplier, obtains hydraulic pump motor Driving Torque On-line Estimation value.
Based on the hydraulic pump motor method for controlling torque that the above embodiment of the present invention provides, by feeding back the measurement result of hydraulic pump motor oil outlet pressure and hydraulic pump motor variable oil cylinder position, form hydraulic pump motor double-closed-loop control, thus the control accuracy of hydraulic pump motor can be improved, system is suppressed fast and effectively to various interference, and easily realize in Practical Project, can effectively reduce control system cost.
Preferably, control valve is hydraulic efficiency servo-valve or hydraulic proportion valve.
Preferably, before step 101, also comprise:
The intensity of torque adjustment signal alpha that torque regulator sets according to user, to original torque instruction T
objadjust, obtain target torque signal T
r, wherein T
r=T
obj× α, 0≤α≤1.
User can according to the driving habits of self, manually adjustment braking force switch, for torque regulator sends intensity of torque adjustment signal.Thus, can adjust original torque instruction by utilizing intensity of torque to adjust signal.
Preferably, PID torque controller, according to torque error signal e (k), adopts following condition to generate the first control signal u (k):
If | e (k) | >e
m1, then u (k)=± u
max;
If e (k) Δ e (k) >0 or Δ e (k)=0, during e (k) ≠ 0:
Work as e
m1>|e (k) | >e
m2, then u (k)=u (k-1)+Mk
0e (k)+k
1e (k-1)+k
2e (k-2);
When | e (k) | <e
m2, then u (k)=u (k-1)+k
0e (k)+k
1e (k-1)+k
2e (k-2);
If during e (k) Δ e (k) <0:
Work as e
m1>|e (k) | >e
m2, then u (k)=u (k-1)+k
0e (k)-k
pe (k-1);
When | e (k) | <e
m2, then u (k)=u (k-1)+Nk
0e (k)-k
pe (k-1);
If e (k) Δ e (k)=0, e (k)=0, then u (k)=u (k-1);
Wherein: e
m1for the maximum error threshold value preset, e
m2for the minimal error threshold value preset, u
maxfor maximum controlled quentity controlled variable, M, N are control coefrficient, 0<N<1, M>1; k
0=k
p+ k
i+ k
d, k
1=-(k
p+ 2k
d), k
2=k
d, k
p, k
i, k
dbe respectively scaling factor, integral coefficient and differential coefficient.Wherein u (k) is time series, and k is the kth sequential value in this time series.
Preferably, swash plate displacement controller, according to the second control signal e1 (k), adopts
u1(k)=u1(k-1)+k
p[e1(k)-e1(k-1)]+k
ie1(k)+k
d[e1(k)-2e1(k-1)+e1(k-2)]
Generate the 3rd control signal u1 (k), wherein k
p, k
i, k
dbe respectively scaling factor, integral coefficient and differential coefficient.
Fig. 3 is the schematic diagram of another embodiment of hydraulic pump motor method for controlling torque of the present invention.Compared with embodiment illustrated in fig. 2, in the embodiment shown in fig. 3, step 103 is replaced with step 201 and step 202.Wherein:
Step 201, the friction torque offset that the first control signal and feedforward compensation device provide by second adder is added, and obtains the 5th control signal.
Step 202, the variable oil cylinder displacement signal that the 5th control signal and displacement detector provide by second adder subtracts each other, and obtains the second control signal.
Wherein feedforward compensation device detects the rotational speed omega of hydraulic pump motor, passes through
Generate the friction torque reference value of hydraulic pump motor, wherein M
cfor coulomb friction moment, M
sfor maximum static friction moment, ω
0for boundary lubrication friction critical velocity, α
2for viscosity friction coefficient; And utilize
Generate feedforward compensation functional value, wherein A
gfor variable oil cylinder piston effective active area, X
maxfor the maximum displacement of variable oil cylinder piston, D
maxfor hydraulic pump motor maximum pump discharge, K
vfor control valve flow gain, p is hydraulic pump motor oil inlet and outlet pressure difference, and s is the differentiate to controlled variable.
Finally friction torque reference value is multiplied with feedforward compensation functional value, obtains friction torque offset.
By friction feedforward compensation mode, the low speed control performance of hydraulic pump motor can be provided, thus the control accuracy of hydraulic pump motor can be improved.
Fig. 4 is the schematic diagram of a hydraulic pump motor moment controlling system of the present invention embodiment.As shown in Figure 4, hydraulic pump motor moment controlling system comprises:
Displacement detector 41, for the position by detecting hydraulic pump motor variable oil cylinder, generating variable oil cylinder displacement signal, and variable oil cylinder displacement signal is sent to second adder 46 and multiplier 43.
Pressure-detecting device 42, for the pressure by detecting hydraulic pump motor oil outlet, generating the working pressure signal of hydraulic pump motor, and working pressure signal is sent to multiplier 43.
Multiplier 43, for being multiplied with variable oil cylinder displacement signal by working pressure signal, obtains hydraulic pump motor Driving Torque On-line Estimation value, and hydraulic pump motor Driving Torque On-line Estimation value is sent to first adder 44.
First adder 44, for target torque signal and hydraulic pump motor Driving Torque On-line Estimation value being subtracted each other, obtaining torque error signal, and torque error signal is sent to PID torque controller 45.
PID torque controller 45, for generating the first control signal according to torque error signal, and sends to second adder 46 by the first control signal.
Second adder 46, for the first control signal and variable oil cylinder displacement signal being subtracted each other, obtaining the second control signal, and the second control signal is sent to swash plate positions controller 47.
Swash plate positions controller 47, for according to the second control signal, generates the 3rd control signal controlled control valve, and the 3rd control signal is sent to control valve 48.
Control valve 48, for according to the 3rd control signal, gives birth to the 4th control signal that paired variates's oil cylinder carries out controlling, and the 4th control signal is sent to variable oil cylinder 49.
Variable oil cylinder 49, for according to the 4th control signal, controls hydraulic pump motor.
Based on the hydraulic pump motor moment controlling system that the above embodiment of the present invention provides, by feeding back the measurement result of hydraulic pump motor oil outlet pressure and hydraulic pump motor variable oil cylinder position, form double-closed-loop control, thus the control accuracy of hydraulic pump motor can be improved, system is suppressed fast and effectively to various interference, and easily realize in Practical Project, can effectively reduce control system cost.
Preferably, control valve is specially hydraulic efficiency servo-valve or hydraulic proportion valve.
Preferably, PID torque controller 45, specifically according to torque error signal e (k), adopts following condition to generate the first control signal u (k):
If | e (k) | >e
m1, then u (k)=± u
max;
If e (k) Δ e (k) >0 or Δ e (k)=0, during e (k) ≠ 0:
Work as e
m1>|e (k) | >e
m2, then u (k)=u (k-1)+Mk
0e (k)+k
1e (k-1)+k
2e (k-2);
When | e (k) | <e
m2, then u (k)=u (k-1)+k
0e (k)+k
1e (k-1)+k
2e (k-2);
If during e (k) Δ e (k) <0:
Work as e
m1>|e (k) | >e
m2, then u (k)=u (k-1)+k
0e (k)-k
pe (k-1);
When | e (k) | <e
m2, then u (k)=u (k-1)+Nk
0e (k)-k
pe (k-1);
If e (k) Δ e (k)=0, e (k)=0, then u (k)=u (k-1);
Wherein: e
m1for the maximum error threshold value preset, e
m2for the minimal error threshold value preset, u
maxfor maximum controlled quentity controlled variable, M, N are control coefrficient, 0<N<1, M>1; k
0=k
p+ k
i+ k
d, k
1=-(k
p+ 2k
d), k
2=k
d, k
p, k
i, k
dbe respectively scaling factor, integral coefficient and differential coefficient.
Preferably, swash plate displacement controller 47, specifically according to the second control signal e1 (k), adopts
u1(k)＝u1(k-1)+k
p[e1(k)-e1(k-1)]+k
ie1(k)+k
d[e1(k)-2e1(k-1)+e1(k-2)]
Generate the 3rd control signal u1 (k), wherein k
p, k
i, k
dbe respectively scaling factor, integral coefficient and differential coefficient.
Fig. 5 is the schematic diagram of another embodiment of hydraulic pump motor moment controlling system of the present invention.Compared with embodiment illustrated in fig. 4, in the embodiment shown in fig. 5, also comprise torque regulator 51, for the intensity of torque adjustment signal alpha set according to user, to original torque instruction T
objadjust, obtain target torque signal T
r, wherein T
r=T
obj× α, 0≤α≤1, and target torque signal is sent to first adder 44.
Fig. 6 is the schematic diagram of another embodiment of hydraulic pump motor moment controlling system of the present invention.Compared with embodiment illustrated in fig. 5, in the embodiment shown in fig. 6, also comprising feedforward compensation device 61, for detecting the rotational speed omega of hydraulic pump motor, passing through
Generate the friction torque reference value of hydraulic pump motor, wherein M
cfor coulomb friction moment, M
sfor maximum static friction moment, ω
0for boundary lubrication friction critical velocity, α
2for viscosity friction coefficient; And utilize
Generate feedforward compensation functional value, wherein A
gfor variable oil cylinder piston effective active area, X
maxfor the maximum displacement of variable oil cylinder piston, D
maxfor hydraulic pump motor maximum pump discharge, K
vfor control valve flow gain, p is hydraulic pump motor oil inlet and outlet pressure difference, and s is the differentiate to controlled variable; Finally friction torque reference value is multiplied with feedforward compensation functional value, obtains friction torque offset.
First control signal and friction torque offset are specifically added by second adder 46, obtain the 5th control signal, the 5th control signal and variable oil cylinder displacement signal are subtracted each other, obtain the second control signal.
By friction feedforward compensation mode, the low speed control performance of hydraulic pump motor can be provided, thus the control accuracy of hydraulic pump motor can be improved.
Fig. 7 is the schematic diagram of a feedforward compensation device of the present invention embodiment.As shown in Figure 7, feedforward compensation device specifically comprises speed detector 71, friction model device 72, feed-forward compensator 73.Wherein:
Speed detector 71, for detecting the rotational speed omega of hydraulic pump motor.
Friction model device 72, for passing through
Generate the friction torque reference value of hydraulic pump motor, wherein M
cfor coulomb friction moment, M
sfor maximum static friction moment, ω
0for boundary lubrication friction critical velocity, α
2for viscosity friction coefficient.
Feed-forward compensator 73, for utilizing
Generate feedforward compensation functional value, wherein A
gfor variable oil cylinder piston effective active area, X
maxfor the maximum displacement of variable oil cylinder piston, D
maxfor hydraulic pump motor maximum pump discharge, K
vfor control valve flow gain, p is hydraulic pump motor oil inlet and outlet pressure difference, and s is the differentiate to controlled variable; And friction torque reference value is multiplied with feedforward compensation functional value, obtain friction torque offset, and friction torque offset is sent to second adder 46.
Fig. 8 is the hydraulic pump motor displacement control design sketch applying hydraulic pump motor method for controlling torque of the present invention.Fig. 9 is the hydraulic pump motor direct torque design sketch applying hydraulic pump motor method for controlling torque of the present invention.As can see from Figure 8, variable oil cylinder actual displacement curve well overlaps with target discharge curve, and as can see from Figure 9, the torque ratio of hydraulic pump motor is comparatively steady, and significant change does not occur.
Claims (13)
1. a hydraulic pump motor method for controlling torque, is characterized in that, comprising:
The hydraulic pump motor Driving Torque On-line Estimation value that target torque signal and multiplier provide by first adder is subtracted each other, and obtains torque error signal;
PID torque controller generates the first control signal according to torque error signal;
The variable oil cylinder displacement signal that first control signal and displacement detector provide by second adder subtracts each other, and obtains the second control signal;
Swash plate positions controller, according to the second control signal, generates the 3rd control signal controlled control valve;
Control valve is according to the 3rd control signal, and raw paired variates's oil cylinder carries out the 4th control signal controlled;
Variable oil cylinder, according to the 4th control signal, controls hydraulic pump motor;
Wherein pressure-detecting device is by detecting the pressure of hydraulic pump motor oil outlet, generate the working pressure signal of hydraulic pump motor, displacement detector is by detecting the position of hydraulic pump motor variable oil cylinder, generate variable oil cylinder displacement signal, working pressure signal is multiplied with variable oil cylinder displacement signal by multiplier, obtains hydraulic pump motor Driving Torque On-line Estimation value.
2. method according to claim 1, is characterized in that,
Hydraulic pump motor Driving Torque On-line Estimation value target torque signal and multiplier provided at first adder comprises before subtracting each other and obtaining torque error signal:
The intensity of torque adjustment signal alpha that torque regulator sets according to user, to original torque instruction T
objadjust, obtain target torque signal T
r, wherein T
r=T
obj× α, 0≤α≤1.
3. method according to claim 1 and 2, is characterized in that,
PID torque controller, according to torque error signal e (k), adopts following condition to generate the first control signal u (k):
If | e (k) | >e
m1, then u (k)=± u
max;
If e (k) Δ e (k) >0 or Δ e (k)=0, during e (k) ≠ 0:
Work as e
m1>|e (k) | >e
m2, then u (k)=u (k-1)+Mk
0e (k)+k
1e (k-1)+k
2e (k-2);
When | e (k) | <e
m2, then u (k)=u (k-1)+k
0e (k)+k
1e (k-1)+k
2e (k-2);
If during e (k) Δ e (k) <0:
Work as e
m1>|e (k) | >e
m2, then u (k)=u (k-1)+k
0e (k)-k
pe (k-1);
When | e (k) | <e
m2, then u (k)=u (k-1)+Nk
0e (k)-k
pe (k-1);
If e (k) Δ e (k)=0, e (k)=0, then u (k)=u (k-1);
Wherein: e
m1for the maximum error threshold value preset, e
m2for the minimal error threshold value preset, u
maxfor maximum controlled quentity controlled variable, M, N are control coefrficient, 0<N<1, M>1; k
0=k
p+ k
i+ k
d, k
1=-(k
p+ 2k
d), k
2=k
d, k
p, k
i, k
dbe respectively scaling factor, integral coefficient and differential coefficient, wherein k is the kth sequential value in time series u (k) and e (k).
4. method according to claim 1 and 2, is characterized in that,
Swash plate displacement controller, according to the second control signal e1 (k), adopts
u1(k)＝u1(k-1)+k
p[e1(k)-e1(k-1)]+k
ie1(k)+k
d[e1(k)-2e1(k-1)+e1(k-2)]
Generate the 3rd control signal u1 (k), wherein k
p, k
i, k
dbe respectively scaling factor, integral coefficient and differential coefficient, wherein k is the kth sequential value in time series u1 (k) and e1 (k).
5. method according to claim 1 and 2, is characterized in that,
The variable oil cylinder displacement signal that first control signal and displacement detector provide by second adder subtracts each other the step obtaining the second control signal and replaces with:
The friction torque offset that first control signal and feedforward compensation device provide by second adder is added, and obtains the 5th control signal;
The variable oil cylinder displacement signal that 5th control signal and displacement detector provide by second adder subtracts each other, and obtains the second control signal;
Wherein feedforward compensation device detects the rotating speed of hydraulic pump motor, passes through
Generate the friction torque reference value of hydraulic pump motor, wherein ω is rotating speed, M
cfor coulomb friction moment, M
sfor maximum static friction moment, ω
0for boundary lubrication friction critical velocity, α
2for viscosity friction coefficient; And utilize
Generate feedforward compensation functional value, wherein A
gfor variable oil cylinder piston effective active area, X
maxfor the maximum displacement of variable oil cylinder piston, D
maxfor hydraulic pump motor maximum pump discharge, K
vfor control valve flow gain, p is hydraulic pump motor oil inlet and outlet pressure difference, and s is the differentiate to controlled variable;
Finally friction torque reference value is multiplied with feedforward compensation functional value, obtains friction torque offset.
6. method according to claim 1 and 2, is characterized in that,
Control valve is hydraulic efficiency servo-valve or hydraulic proportion valve.
7. a hydraulic pump motor moment controlling system, is characterized in that, comprising:
Displacement detector, for the position by detecting hydraulic pump motor variable oil cylinder, generating variable oil cylinder displacement signal, and variable oil cylinder displacement signal is sent to second adder and multiplier;
Pressure-detecting device, for the pressure by detecting hydraulic pump motor oil outlet, generating the working pressure signal of hydraulic pump motor, and working pressure signal is sent to multiplier;
Multiplier, for being multiplied with variable oil cylinder displacement signal by working pressure signal, obtains hydraulic pump motor Driving Torque On-line Estimation value, and hydraulic pump motor Driving Torque On-line Estimation value is sent to first adder;
First adder, for target torque signal and hydraulic pump motor Driving Torque On-line Estimation value being subtracted each other, obtaining torque error signal, and torque error signal is sent to PID torque controller;
PID torque controller, for generating the first control signal according to torque error signal, and sends to second adder by the first control signal;
Second adder, for the first control signal and variable oil cylinder displacement signal being subtracted each other, obtaining the second control signal, and the second control signal is sent to swash plate positions controller;
Swash plate positions controller, for according to the second control signal, generates the 3rd control signal controlled control valve, and the 3rd control signal is sent to control valve;
Control valve, for according to the 3rd control signal, gives birth to the 4th control signal that paired variates's oil cylinder carries out controlling, and the 4th control signal is sent to variable oil cylinder;
Variable oil cylinder, for according to the 4th control signal, controls hydraulic pump motor.
8. system according to claim 7, is characterized in that, described system also comprises torque regulator, for the intensity of torque adjustment signal alpha set according to user, to original torque instruction T
objadjust, obtain target torque signal T
r, wherein T
r=T
obj× α, 0≤α≤1.
9. the system according to claim 7 or 8, is characterized in that,
PID direct torque implement body, according to torque error signal e (k), adopts following condition to generate the first control signal u (k):
If | e (k) | >e
m1, then u (k)=± u
max;
If e (k) Δ e (k) >0 or Δ e (k)=0, during e (k) ≠ 0:
Work as e
m1>|e (k) | >e
m2, then u (k)=u (k-1)+Mk
0e (k)+k
1e (k-1)+k
2e (k-2);
When | e (k) | <e
m2, then u (k)=u (k-1)+k
0e (k)+k
1e (k-1)+k
2e (k-2);
If during e (k) Δ e (k) <0:
Work as e
m1>|e (k) | >e
m2, then u (k)=u (k-1)+k
0e (k)-k
pe (k-1);
When | e (k) | <e
m2, then u (k)=u (k-1)+Nk
0e (k)-k
pe (k-1);
If e (k) Δ e (k)=0, e (k)=0, then u (k)=u (k-1);
Wherein: e
m1for the maximum error threshold value preset, e
m2for the minimal error threshold value preset, u
maxfor maximum controlled quentity controlled variable, M, N are control coefrficient, 0<N<1, M>1; k
0=k
p+ k
i+ k
d, k
1=-(k
p+ 2k
d), k
2=k
d, k
p, k
i, k
dbe respectively scaling factor, integral coefficient and differential coefficient, wherein k is the kth sequential value in time series u (k) and e (k).
10. the system according to claim 7 or 8, is characterized in that,
Swash plate displacement controller, specifically according to the second control signal e1 (k), adopts
u1(k)＝u1(k-1)+k
p[e1(k)-e1(k-1)]+k
ie1(k)+k
d[e1(k)-2e1(k-1)+e1(k-2)]
Generate the 3rd control signal u1 (k), wherein k
p, k
i, k
dbe respectively scaling factor, integral coefficient and differential coefficient, wherein k is the kth sequential value in time series u1 (k) and e1 (k).
11. systems according to claim 7 or 8, it is characterized in that, described system also comprises feedforward compensation device, for detecting the rotating speed of hydraulic pump motor, passes through
Generate the friction torque reference value of hydraulic pump motor, wherein ω is rotating speed, M
cfor coulomb friction moment, M
sfor maximum static friction moment, ω
0for boundary lubrication friction critical velocity, α
2for viscosity friction coefficient; And utilize
Generate feedforward compensation functional value, wherein A
gfor variable oil cylinder piston effective active area, X
maxfor the maximum displacement of variable oil cylinder piston, D
maxfor hydraulic pump motor maximum pump discharge, K
vfor control valve flow gain, p is hydraulic pump motor oil inlet and outlet pressure difference, and s is the differentiate to controlled variable; Finally friction torque reference value is multiplied with feedforward compensation functional value, obtains friction torque offset;
Described second adder is replaced with the first control signal and friction torque offset are added to obtain the 5th control signal, to subtract each other the 5th control signal and variable oil cylinder displacement signal to obtain the second adder of the second control signal.
12. systems according to claim 11, is characterized in that, feedforward compensation device specifically comprises speed detector, friction model device, feed-forward compensator, wherein:
Speed detector, for detecting the rotational speed omega of hydraulic pump motor,
Friction model device, for passing through
Generate the friction torque reference value of hydraulic pump motor, wherein M
cfor coulomb friction moment, M
sfor maximum static friction moment, ω
0for boundary lubrication friction critical velocity, α
2for viscosity friction coefficient;
Feed-forward compensator, for utilizing
Generate feedforward compensation functional value, wherein A
gfor variable oil cylinder piston effective active area, X
maxfor the maximum displacement of variable oil cylinder piston, D
maxfor hydraulic pump motor maximum pump discharge, K
vfor control valve flow gain, p is hydraulic pump motor oil inlet and outlet pressure difference, and s is the differentiate to controlled variable; And friction torque reference value is multiplied with feedforward compensation functional value, obtain friction torque offset.
13. systems according to claim 7 or 8, is characterized in that,
Control valve is specially hydraulic efficiency servo-valve or hydraulic proportion valve.
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| DE102013005774B4 (en) * | 2013-04-05 | 2021-01-21 | Robert Bosch Gmbh | USE OF A VARIABLE SPEED HYDRAULIC PUMP DRIVEN BY A MOTOR AS A HYDROSTATIC TRANSMISSION |
| CN103711598B (en) * | 2013-12-03 | 2016-02-10 | 中联重科股份有限公司 | Regulation of hydraulic system equipment, method, Power Matching Control System and engineering machinery |
| CN113489405B (en) * | 2021-07-14 | 2023-08-08 | 深圳鹏行智能研究有限公司 | Motor control method, motor control device and storage medium |
| CN113915091B (en) * | 2021-09-28 | 2023-10-03 | 徐州重型机械有限公司 | Plunger pump variable mechanism, plunger pump control system and plunger pump control method |
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